Optimal initial position and posture determination method of flexible supporting series industrial robot operation
An industrial robot and flexible support technology, which is applied in the direction of manipulators, manufacturing tools, program control manipulators, etc., can solve the problems of flexible support platform vibration end accuracy, deterioration, and affecting the stability of flexible supports.
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Method used
Image
Examples
Embodiment Construction
[0060] Introduction to basic principles
[0061] (1) Instructions for solving kinematic position Jacobian matrix and position Hessian matrix
[0062] Using the D-H homogeneous coordinate change rule to obtain the mutual mapping matrix between the end coordinates and the base coordinates of industrial robots The position Jacobian matrix can be expressed as:
[0063]
[0064] The Hessian matrix H is to use the Jacobian matrix to re-align [θ 1 ,θ 2 ,θ 3 ] Derivation:
[0065]
[0066] (2) Newton-Euler method dynamic solution model
[0067] The iterative formula of the Newton-Euler dynamics recursive algorithm for a 6-DOF rotary joint robot can be summarized as follows:
[0068] Forward solution of boom motion parameters (i: 0→6):
[0069]
[0070]
[0071]
[0072]
[0073]
[0074]
[0075] The driving torque of each joint (i: 6→1) for reverse solution of joint force:
[0076]
[0077]
[0078]
[0079] Then solve one step backward (i=0)...
PUM
Abstract
Description
Claims
Application Information
- R&D Engineer
- R&D Manager
- IP Professional
- Industry Leading Data Capabilities
- Powerful AI technology
- Patent DNA Extraction
Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.
© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com